Angjoo Kanazawa — Papers on Cortexa

arxivcs.ROcs.AIcs.GReess.SY2026-06-29

VLK: Learning Humanoid Loco-Manipulation from Synthetic Interactions in Reconstructed Scenes

Yen-Jen Wang, Jiaman Li, Sirui Chen, Takara E. Truong, Pei Xu, Pieter Abbeel, et al.

Perception-based humanoid loco-manipulation requires connecting egocentric observations and task instructions to whole-body motion. Learning this mapping requires synchronized egocentric images, language commands, and robot-compatible kinematic trajectories, yet no existing data…

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arxivcs.RO2026-06-25

Scalable Behavior Cloning with Open Data, Training, and Evaluation

Arthur Allshire, Himanshu Gaurav Singh, Ritvik Singh, Adam Rashid, Hongsuk Choi, David McAllister, et al.

We introduce ABC, a fully open-source stack for manipulation with behavior cloning. At its core is ABC-130K: the largest open-source teleoperation dataset to date, featuring 3,500 hours of data spanning over 130K episodes across 195 diverse tasks. Furthermore, we open-source our…

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